Neuro Sliding Mode Control for Exoskeletons with 7 DoF

Authors : Haci Mehmet GUZEY

Pages : 1065-1073

Doi:10.16984/saufenbilder.710959

View : 27 | Download : 10

Publication Date : 2020-10-01

Article Type : Research Paper

Abstract :In this work, a novel neuro-sliding mode controller insert ignore into journalissuearticles values(NSMC); is developed for a 7 degree of freedom insert ignore into journalissuearticles values(DoF); upper limb exoskeleton. Even though the regular sliding mode controller insert ignore into journalissuearticles values(SMC); is very sufficient tool when the unknown dynamics of the system is time invariant, variation in the unknown dynamics cannot be handled by regular SMC. Therefore, two-layer neural network insert ignore into journalissuearticles values(NN); is used to approximate the exoskeleton dynamics in the structure of the SMC. Stability of the NSMC is developed by using Lyapunov stability criteria. To validate our theoretical claims and to compare NSMC with regular SMC, simulation results are provided at the end of the paper. In the simulation section, advantage of the NSMC over regular SMC is presented in the presence of time-varying unknown exoskeleton dynamics.
Keywords : Exoskeleton, sliding mode control, neural networks